KR102046208B1 - 보행 지원 장치 및 보행 지원 방법 - Google Patents

보행 지원 장치 및 보행 지원 방법 Download PDF

Info

Publication number
KR102046208B1
KR102046208B1 KR1020157019584A KR20157019584A KR102046208B1 KR 102046208 B1 KR102046208 B1 KR 102046208B1 KR 1020157019584 A KR1020157019584 A KR 1020157019584A KR 20157019584 A KR20157019584 A KR 20157019584A KR 102046208 B1 KR102046208 B1 KR 102046208B1
Authority
KR
South Korea
Prior art keywords
walking
pedestrian
mounting apparatus
arm
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
KR1020157019584A
Other languages
English (en)
Korean (ko)
Other versions
KR20150100797A (ko
Inventor
요시히로 미야케
Original Assignee
고쿠리츠다이가쿠호진 토쿄고교 다이가꾸
가부시키가이샤 기쿠치 세이사쿠쇼
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 고쿠리츠다이가쿠호진 토쿄고교 다이가꾸, 가부시키가이샤 기쿠치 세이사쿠쇼 filed Critical 고쿠리츠다이가쿠호진 토쿄고교 다이가꾸
Publication of KR20150100797A publication Critical patent/KR20150100797A/ko
Application granted granted Critical
Publication of KR102046208B1 publication Critical patent/KR102046208B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4836—Diagnosis combined with treatment in closed-loop systems or methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A61B5/1122—Determining geometric values, e.g. centre of rotation or angular range of movement of movement trajectories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6823—Trunk, e.g., chest, back, abdomen, hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0211—Walking coordination of arms and legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5079—Velocity sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Physiology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Rehabilitation Tools (AREA)
  • Geometry (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
KR1020157019584A 2012-12-28 2013-12-25 보행 지원 장치 및 보행 지원 방법 Active KR102046208B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2012288597A JP2014128464A (ja) 2012-12-28 2012-12-28 歩行支援装置および歩行支援方法
JPJP-P-2012-288597 2012-12-28
PCT/JP2013/007588 WO2014103305A1 (ja) 2012-12-28 2013-12-25 歩行支援装置および歩行支援方法

Publications (2)

Publication Number Publication Date
KR20150100797A KR20150100797A (ko) 2015-09-02
KR102046208B1 true KR102046208B1 (ko) 2019-12-02

Family

ID=51020421

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020157019584A Active KR102046208B1 (ko) 2012-12-28 2013-12-25 보행 지원 장치 및 보행 지원 방법

Country Status (6)

Country Link
US (1) US9833375B2 (enrdf_load_stackoverflow)
EP (1) EP2939647A4 (enrdf_load_stackoverflow)
JP (1) JP2014128464A (enrdf_load_stackoverflow)
KR (1) KR102046208B1 (enrdf_load_stackoverflow)
CN (1) CN104902862B (enrdf_load_stackoverflow)
WO (1) WO2014103305A1 (enrdf_load_stackoverflow)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015177863A (ja) * 2014-03-19 2015-10-08 株式会社東芝 アシスト制御装置および方法
CN105934654B (zh) * 2014-05-09 2017-09-26 皇家飞利浦有限公司 用于确定加速度计的取向的方法和装置
EP3299002B1 (en) 2015-05-19 2020-07-08 Cyberdyne Inc. Walking assistance device
KR102556924B1 (ko) * 2016-09-05 2023-07-18 삼성전자주식회사 보행 보조 방법 및 이를 수행하는 장치
WO2018047945A1 (ja) * 2016-09-09 2018-03-15 日本電信電話株式会社 乳酸性作業閾値推定装置及び乳酸性作業閾値推定方法
KR102002303B1 (ko) 2017-03-31 2019-07-22 주식회사 푸드인쿡홀딩스 보행자-차량 간의 상충위험도 분석시스템
JP6846535B2 (ja) * 2017-11-08 2021-03-24 本田技研工業株式会社 移動運動支援装置
JP2020005749A (ja) * 2018-07-04 2020-01-16 Ｗａｌｋ−Ｍａｔｅ Ｌａｂ株式会社 歩行支援装置および歩行支援方法
WO2020263033A1 (ko) 2019-06-28 2020-12-30 서울대학교산학협력단 비고정식 어깨 보조기
KR102222967B1 (ko) * 2019-06-28 2021-03-08 서울대학교병원 비고정식 어깨 보조기
CN112603753B (zh) * 2020-11-30 2022-04-19 中国人民解放军陆军军医大学第一附属医院 一种上肢骨折用康复训练装置
KR102705143B1 (ko) * 2021-11-24 2024-09-11 에이치로보틱스 주식회사 도달운동을 위한 재활운동장치의 제어방법

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008125888A (ja) * 2006-11-22 2008-06-05 Univ Waseda 感覚検出呈示装置及び歩行リハビリ支援装置

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6064912A (en) * 1997-03-28 2000-05-16 Kenney; John P. Orthotic/electrotherapy for treating contractures due to immobility
AU2003283026A1 (en) 2002-10-24 2004-05-13 Lockheed Martin Corporation Systems and methods for treating movement disorders
US7396337B2 (en) * 2002-11-21 2008-07-08 Massachusetts Institute Of Technology Powered orthotic device
JP4259111B2 (ja) * 2002-12-27 2009-04-30 株式会社安川電機 歩行訓練装置および歩行ユニット
JP4858935B2 (ja) 2004-02-10 2012-01-18 国立大学法人東京工業大学 非線形制御器及び非線形的制御方法
JP4686681B2 (ja) 2004-10-05 2011-05-25 国立大学法人東京工業大学 歩行介助システム
JP4617496B2 (ja) 2005-07-22 2011-01-26 トヨタ自動車株式会社 補助装置
JP4787957B2 (ja) * 2005-08-30 2011-10-05 国立大学法人豊橋技術科学大学 ウェアラブル足底圧力提示装置
KR101204540B1 (ko) * 2005-10-11 2012-11-23 파나소닉 주식회사 동작 지원 장치 및 동작 지원 방법
US8585620B2 (en) * 2006-09-19 2013-11-19 Myomo, Inc. Powered orthotic device and method of using same
JP5409637B2 (ja) * 2008-09-10 2014-02-05 国立大学法人 筑波大学 生体信号計測装着具及び装着式動作補助装置
US8568344B2 (en) * 2009-10-23 2013-10-29 Applied Neural Mechanics, Llc Torso assist orthotic device
JP5607952B2 (ja) * 2010-02-26 2014-10-15 国立大学法人東京工業大学 歩行障害自動分析システム
JP5057314B2 (ja) 2010-09-01 2012-10-24 国立大学法人東京工業大学 歩容評価システム及び歩容評価方法
JP5724312B2 (ja) 2010-11-15 2015-05-27 トヨタ自動車株式会社 リハビリ補助装置
FR2975895B1 (fr) * 2011-05-30 2013-06-28 Commissariat Energie Atomique Vehicule a au moins trois points d'appui stable sur le sol
US9351900B2 (en) * 2012-09-17 2016-05-31 President And Fellows Of Harvard College Soft exosuit for assistance with human motion

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008125888A (ja) * 2006-11-22 2008-06-05 Univ Waseda 感覚検出呈示装置及び歩行リハビリ支援装置

Also Published As

Publication number Publication date
US20160000635A1 (en) 2016-01-07
JP2014128464A (ja) 2014-07-10
EP2939647A1 (en) 2015-11-04
KR20150100797A (ko) 2015-09-02
CN104902862A (zh) 2015-09-09
EP2939647A4 (en) 2016-11-02
US9833375B2 (en) 2017-12-05
WO2014103305A1 (ja) 2014-07-03
CN104902862B (zh) 2017-03-15

Similar Documents

Publication Publication Date Title
KR102046208B1 (ko) 보행 지원 장치 및 보행 지원 방법
Knaepen et al. Human–robot interaction: Kinematics and muscle activity inside a powered compliant knee exoskeleton
Villarreal et al. A robust parameterization of human gait patterns across phase-shifting perturbations
Andrade et al. Development of a “transparent operation mode” for a lower-limb exoskeleton designed for children with cerebral palsy
Roy et al. Anklebot-assisted locomotor training after stroke: A novel deficit-adjusted control approach
Luque-Moreno et al. Virtual reality to assess and treat lower extremity disorders in post-stroke patients
Rinaldi et al. Gait and reach-to-grasp movements are mutually modified when performed simultaneously
Wang et al. Synchronized walking coordination for impact-less footpad contact of an overground gait rehabilitation system: NaTUre-gaits
Kagawa et al. Gait pattern generation for a power-assist device of paraplegic gait
Munawar et al. AssistOn-Gait: An overground gait trainer with an active pelvis-hip exoskeleton
Xie et al. Wirerope-driven exoskeleton to assist lower-limb rehabilitation of hemiplegic patients by using motion capture
Park et al. Measurement and analysis of gait pattern during stair walk for improvement of robotic locomotion rehabilitation system
Wang et al. Research on robot control system of lower limb rehabilitation robot based on human gait comfort
JP6694214B2 (ja) 歩行支援装置
Martinez et al. Preliminary assessment of a lower-limb exoskeleton controller for guiding leg movement in overground walking
Baud et al. Bio-inspired standing balance controller for a full-mobilization exoskeleton
JP2019107471A (ja) 歩行支援装置
Van Leeuwen et al. Stabilization of gait, mechanisms, and opportunities for training
Jung et al. Development of gait rehabilitation system capable of assisting pelvic movement of normal walking
JP2022087095A (ja) 歩行支援装置
Mokhtarian et al. An assistive passive pelvic device for gait training and rehabilitation using locomotion dynamic model
Kanjanapas et al. 7 degrees of freedom passive exoskeleton for human gait analysis: Human joint motion sensing and torque estimation during walking
Li et al. A center of mass estimation and control strategy for body-weight-support treadmill training
Asker et al. Experimental validation of a motion generation model for natural robotics-based sit to stand assistance and rehabilitation
Yepes et al. A Hardware-in-the-loop Simulation Study of a Mechatronic System for Anterior Cruciate Ligament Injuries Rehabilitation.

Legal Events

Date Code Title Description
PA0105 International application

Patent event date: 20150720

Patent event code: PA01051R01D

Comment text: International Patent Application

PG1501 Laying open of application
PA0201 Request for examination

Patent event code: PA02012R01D

Patent event date: 20181122

Comment text: Request for Examination of Application

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

Comment text: Notification of reason for refusal

Patent event date: 20190704

Patent event code: PE09021S01D

E701 Decision to grant or registration of patent right
PE0701 Decision of registration

Patent event code: PE07011S01D

Comment text: Decision to Grant Registration

Patent event date: 20190927

GRNT Written decision to grant
PR0701 Registration of establishment

Comment text: Registration of Establishment

Patent event date: 20191112

Patent event code: PR07011E01D

PR1002 Payment of registration fee

Payment date: 20191112

End annual number: 3

Start annual number: 1

PG1601 Publication of registration
PR1001 Payment of annual fee

Payment date: 20221109

Start annual number: 4

End annual number: 4

PR1001 Payment of annual fee

Payment date: 20231107

Start annual number: 5

End annual number: 5